U.S. patent number 11,413,961 [Application Number 16/995,438] was granted by the patent office on 2022-08-16 for foldable pedal apparatus for autonomous traveling vehicle.
This patent grant is currently assigned to Hyundai Motor Company, Kia Motors Corporation. The grantee listed for this patent is Hyundai Motor Company, Kia Motors Corporation. Invention is credited to Eun Sik Kim.
United States Patent |
11,413,961 |
Kim |
August 16, 2022 |
Foldable pedal apparatus for autonomous traveling vehicle
Abstract
A foldable pedal apparatus of an autonomous traveling vehicle,
is configured so that a pedal pad is popped-up by moving toward a
driver to be exposed to enable an operation of the pedal pad by a
driver in a manual driving mode situation in which the driver
directly drives the vehicle, and the pedal pad moves forward and is
in close contact with a vehicle body panel to disable the operation
of the pedal pad by the driver in an autonomous traveling mode in
which the driver does not directly drive the vehicle, facilitating
a hidden state where exposure toward the driver is blocked.
Inventors: |
Kim; Eun Sik (Gwangmyeong-si,
KR) |
Applicant: |
Name |
City |
State |
Country |
Type |
Hyundai Motor Company
Kia Motors Corporation |
Seoul
Seoul |
N/A
N/A |
KR
KR |
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|
Assignee: |
Hyundai Motor Company (Seoul,
KR)
Kia Motors Corporation (Seoul, KR)
|
Family
ID: |
1000006502825 |
Appl.
No.: |
16/995,438 |
Filed: |
August 17, 2020 |
Prior Publication Data
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Document
Identifier |
Publication Date |
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US 20210331584 A1 |
Oct 28, 2021 |
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Foreign Application Priority Data
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Apr 23, 2020 [KR] |
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10-2020-0049265 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60K
26/02 (20130101); G05G 1/40 (20130101); B60T
7/042 (20130101); B60T 7/06 (20130101); F16H
21/44 (20130101); B60K 2026/026 (20130101); G05D
1/0061 (20130101) |
Current International
Class: |
G05G
1/30 (20080401); B60K 26/02 (20060101); G05G
1/40 (20080401); F16H 21/44 (20060101); B60T
7/06 (20060101); B60T 7/04 (20060101); G05D
1/00 (20060101) |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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2017-0137427 |
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Dec 2017 |
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KR |
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WO-2021182563 |
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Sep 2021 |
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WO |
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Other References
Machine Translation of WO 2021/182563. cited by examiner.
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Primary Examiner: Ridley; Richard W
Assistant Examiner: McGovern; Brian J
Attorney, Agent or Firm: Morgan, Lewis & Bockius LLP
Claims
What is claimed is:
1. A foldable pedal apparatus of a vehicle, the foldable pedal
apparatus comprising: a rotating link disposed to penetrate a
portion of a vehicle body panel partitioning an engine compartment
space and an internal space under a driver seat; an actuator
coupled to a first end portion of the rotating link protruding into
the engine compartment space through the vehicle body panel to
generate power to selectively rotate the rotating link; a frame
link having an upper end portion rotatably coupled to a second end
portion of the rotating link protruding into the internal space via
a first hinge pin and a lower end portion moving in a predetermined
direction when the rotating link is rotated; and a pedal pad having
a lower end portion rotatably coupled to the lower end portion of
the frame link via a second hinge pin.
2. The foldable pedal apparatus according to claim 1, further
including: an actuator controller mounted in the engine compartment
space and electrically connected to the actuator to control an
operation of the actuator.
3. The foldable pedal apparatus according to claim 1, further
including: a pedal sensor housing which has a lower end portion
fixed to the frame link and an upper end portion formed to protrude
forward with respect to the frame link; and a pad spring which has
first and second end portions supported by the pedal pad and the
pedal sensor housing, respectively, is compressed when the pedal
pad rotates forward around the second hinge pin in a response to a
driver's operation to accumulate an elastic force, and rotates and
returns the pedal pad backward with the accumulated elastic force
in a response that the driver releases an operating force from the
pedal pad.
4. The foldable pedal apparatus according to claim 1, further
including: a pedal sensor housing which has a lower end portion
fixed to the frame link and an upper end portion formed to protrude
forward with respect to the frame link; and a housing magnet which
is fixedly coupled to the upper end portion of the pedal sensor
housing, wherein when the rotating link is rotated by an operation
of the actuator and the frame link moves forward, the housing
magnet is magnetically-coupled to the rotating link made of steel
to constrain a forward movement of the frame link.
5. The foldable pedal apparatus according to claim 1, further
including: a permanent magnet which is coupled to the lower end
portion of the pedal pad through which the second hinge pin passes;
and a non-contact pedal sensor which is coupled to the lower end
portion of the pedal sensor housing to face the permanent magnet
and provided with a printed circuit board (PCB), wherein the
non-contact pedal sensor detects a rotating angle of the pedal pad
through a change in a magnetic field strength according to a change
in a location of the permanent magnet when the pedal pad rotates
around the second hinge pin to generate one of a signal related to
acceleration or a signal related to braking.
6. The foldable pedal apparatus according to claim 1, wherein the
vehicle body panel includes a horizontally extending bottom
surface, and wherein a stopper protrusion is fixed on the
horizontally extending bottom surface of the vehicle body panel,
the stopper protrusion being in contact with the lower end portion
of the frame link moving backward when the rotating link is rotated
by an operation of the actuator and the frame link moves backward
to limit a backward movement of the frame link.
7. The foldable pedal apparatus according to claim 6, wherein the
stopper protrusion includes a concave groove formed in a portion of
the stopper protrusion which is in contact with the lower end
portion of the frame link, the concave groove being recessed
inwardly from the stopper protrusion, and wherein as the lower end
portion of the frame link is engaged into the concave groove, the
lower end portion of the frame link is prevented from being lifted
upward by being locked to the concave groove of the stopper
protrusion.
8. The foldable pedal apparatus according to claim 6, wherein a
link magnet is coupled to the lower end portion of the frame link,
wherein a steel piece is coupled to the stopper protrusion, and
wherein as the link magnet and the steel piece are
magnetically-coupled when the lower end portion of the frame link
is in contact with the stopper protrusion, the backward movement of
the frame link is constrained by magnetic force of the link magnet
and the steel piece.
9. The foldable pedal apparatus according to claim 1, wherein the
actuator is a rotary motor which is fixed in the engine compartment
space, and wherein a motor shaft of the rotary motor is coupled to
the first end portion of the rotating link protruding into the
engine compartment space.
10. The foldable pedal apparatus according to claim 1, wherein the
vehicle body panel includes a wall surface formed with a panel
hole, and wherein the rotating link includes: a first link portion
which is provided to penetrate the panel hole and has an end
portion protruding into the engine compartment space and coupled to
the actuator; and a second link portion which is bent from the
first link portion to protrude upward and rotatably coupled to the
upper end portion of the frame link located in the internal space
via the first hinge pin.
11. The foldable pedal apparatus according to claim 10, wherein a
length of the second link portion is formed longer than a length of
the first link portion.
12. The foldable pedal apparatus according to claim 10, wherein the
panel hole is formed at a predetermined size at which the first
link portion performs a rotating operation thereof by an operation
of the actuator.
13. The foldable pedal apparatus according to claim 10, wherein
when the rotating link is rotated by an operation of the actuator
and the second link portion is in contact with the wall surface of
the vehicle body panel, and the frame link moves forward and is
superimposed while being adjacent to the second link portion, the
pedal pad coupled to the frame link maximally moves toward the wall
surface of the vehicle body panel to become a hidden state.
14. The foldable pedal apparatus according to claim 10, wherein
when the rotating link is rotated by an operation of the actuator
and the second link portion is separated from the wall surface of
the vehicle body panel toward a rear where a driver exists and the
frame link moves backward and is separated from the second link
portion at a predetermined angle, the pedal pad coupled to the
frame link becomes a pop-up state in which the pedal pad is exposed
to protrude into the internal space where the driver exists.
15. The foldable pedal apparatus according to claim 13, wherein the
vehicle body panel includes a horizontally extending bottom
surface, and wherein the frame link is located to be separated from
the second link portion at a predetermined angle so that a center
line straightly extending a center portion of the first hinge pin
and a center portion of the second hinge pin is located behind a
reference line perpendicularly extending the horizontally extending
bottom surface of the vehicle body panel and the center portion of
the first hinge pin when the pedal pad is in the hidden state.
16. The foldable pedal apparatus according to claim 1, wherein when
an operating surface of the pedal pad operated by a driver's foot
is formed larger in an external size than the frame link and the
pedal pad rotates forward around the second hinge pin, an operating
surface of the pedal pad is in contact with and supported by the
frame link so that a forward rotation of the pedal pad is
constrained.
17. The foldable pedal apparatus according to claim 1, wherein the
vehicle body panel includes an horizontally extending bottom
surface, wherein the lower end portion of the frame link moves in
the predetermined direction while being in contact with the
horizontally extending bottom surface of the vehicle body panel
when the rotating link is rotated, and wherein the lower end
portion of the frame link is formed in a round shape to be in line
contact with the horizontally extending bottom surface to minimize
frictional interference with the horizontally extending bottom
surface.
18. The foldable pedal apparatus according to claim 1, wherein the
vehicle body panel includes an horizontally extending bottom
surface, wherein a roller is rotatably coupled to the lower end
portion of the frame link, and wherein as the roller rotates while
being in contact with the horizontally extending bottom surface
when the rotating link is rotated, the lower end portion of the
frame link moves in the predetermined direction thereof.
19. The foldable pedal apparatus according to claim 1, wherein the
pedal pad is an organ pad which has an upper end portion rotating
back and forth around a lower end portion of the pedal pad coupled
to the frame link via the second hinge pin.
20. The foldable pedal apparatus according to claim 1, wherein the
pedal pad is one of a component of an acceleration pedal device or
a component of a brake pedal.
Description
CROSS REFERENCE TO RELATED APPLICATION
The present application claims priority to Korean Patent
Application No. 10-2020-0049265 filed on Apr. 23, 2020, the entire
contents of which is incorporated herein for all purposes by this
reference.
BACKGROUND OF THE PRESENT INVENTION
Field of the Invention
The present invention relates to a foldable pedal apparatus of an
autonomous traveling vehicle, and more specifically, to a
technology of a foldable pedal apparatus of an autonomous traveling
vehicle, in which a pedal pad is moved toward a driver to be
exposed so that the driver's operation is possible in a manual
driving mode in which a driver directly drives a vehicle, and the
pedal pad is moved to be in close contact with a vehicle body panel
which partitions an engine compartment space and an internal space
so that the driver's operation is not possible in an autonomous
traveling situation, blocking the exposure toward the driver.
Description of Related Art
An autonomous traveling vehicle is a smart vehicle which
incorporates an autonomous traveling technology of finding the
destination by itself even without the driver directly operating a
steering wheel, an accelerator pedal, a brake, or the like, and is
recently being developed rapidly.
If the autonomous traveling situation is universally realized, the
driver may select a manual driving mode in which the driver
directly drives the vehicle and an autonomous traveling mode in
which the vehicle travels to the destination by itself without the
driver directly driving the vehicle.
Since the driver may rest comfortably by extending his or her feet
in the autonomous traveling mode, there is a disadvantage in that
when a pedal (an acceleration pedal or a brake pedal) located in a
space under a driver seat exists while being exposed to the
interior as it is, the driver's rest is disturbed.
Furthermore, the autonomous traveling situation is a situation in
which the driver does not operate the pedal (the acceleration pedal
or the brake pedal) of the vehicle, and if the driver operates the
pedal during autonomous traveling, a vehicle controller is
configured to determine the above as a situation in which the
driver terminates the autonomous traveling and the driver wants to
directly drive the vehicle to terminate a control for the
autonomous traveling.
However, since the pedal of the vehicle is configured to be exposed
to the space under the driver seat, there is a concern in that the
driver unconsciously operates the pedal in the autonomous traveling
situation (misoperation situation of the pedal), and in the instant
case, there is a concern in that an accident occurs according to a
roadway situation, an inter-vehicle distance, or the like.
Accordingly, the technology development for a new pedal apparatus
is required in which the pedal pad is exposed to the interior so
that the driver's operation is possible in the manual driving mode
in which the driver directly drives the vehicle, and the internal
exposure of the pedal pad is blocked so that the driver's operation
is not possible for the comfortable rest of the driver and safety
such as the prevention of the misoperation in the autonomous
traveling situation.
The information included in this Background of the present
invention section is only for enhancement of understanding of the
general background of the present invention and may not be taken as
an acknowledgement or any form of suggestion that this information
forms the prior art already known to a person skilled in the
art.
BRIEF SUMMARY
Various aspects of the present invention are directed to providing
a foldable pedal apparatus of an autonomous traveling vehicle in
which a pedal pad is moved toward a driver to be exposed so that a
driver's operation is possible in a manual driving mode in which a
driver directly drives the vehicle, and the pedal pad is moved to
be in close contact with a vehicle body panel which partitions an
engine compartment space and an internal space so that the driver's
operation is not possible in an autonomous traveling situation,
blocking the exposure toward the driver, is to enable the
comfortable rest of the driver in the autonomous traveling
situation, and furthermore, to block a misoperation of a pedal in
the autonomous traveling situation, achieving safety
improvement.
A foldable pedal apparatus of an autonomous traveling vehicle
according to various exemplary embodiments of the present invention
for achieving the object includes: a rotating link which is
disposed to penetrate a portion of a vehicle body panel
partitioning an engine compartment space and an internal space
under a driver seat, an actuator which is coupled to one end
portion of the rotating link protruding into the engine compartment
space through the vehicle body panel to generate power to
selectively rotate the rotating link, a frame link which has an
upper end portion rotatably coupled to the other end portion of the
rotating link protruding into the internal space via a first hinge
pin and a lower end portion moving in a predetermined direction
when the rotating link is rotated, and a pedal pad which has a
lower end portion rotatably coupled to the lower end portion of the
frame link via a second hinge pin.
The foldable pedal apparatus of the autonomous traveling vehicle
may further include an actuator controller which is mounted in the
engine compartment space and electrically connected to the actuator
to control an operation of the actuator.
The foldable pedal apparatus of the autonomous traveling vehicle
may further include a pedal sensor housing which has a lower end
portion fixed to the frame link and an upper end portion coupled to
protrude forward with respect to the frame link, and a pad spring
which has both end portions configured to be supported by the pedal
pad and the pedal sensor housing, is compressed when the pedal pad
rotates forward around the second hinge pin in a response to a
driver's operation to accumulate an elastic force, and rotates and
returns the pedal pad backward with the accumulated elastic force
when the driver releases an operating force from the pedal pad.
The foldable pedal apparatus of the autonomous traveling vehicle
may further include a pedal sensor housing which has a lower end
portion fixed to the frame link and an upper end portion coupled to
protrude forward with respect to the frame link, and a housing
magnet which is fixedly coupled to the upper end portion of the
pedal sensor housing, and when the rotating link is rotated by an
operation of the actuator and the frame link moves forward, the
housing magnet is magnetically-coupled to the rotating link made of
steel to constrain a forward movement of the frame link.
The foldable pedal apparatus of the autonomous traveling vehicle
may further include a permanent magnet which is coupled to the
lower end portion of the pedal pad through which the second hinge
pin passes, and a non-contact pedal sensor which is coupled to the
lower end portion of the pedal sensor housing to face the permanent
magnet and provided with a PCB, and the non-contact pedal sensor
detects a rotating angle of the pedal pad through a change in a
magnetic field strength according to a change in a location of the
permanent magnet when the pedal pad rotates around the second hinge
pin to generate any one signal of a signal related to acceleration
or a signal related to braking.
The vehicle body panel includes: a horizontally extending bottom
surface, and a stopper protrusion is fixed on the horizontally
extending bottom surface of the vehicle body panel, the stopper
protrusion being in contact with the lower end portion of the frame
link moving backward when the rotating link is rotated by an
operation of the actuator and the frame link moves backward to
limit a backward movement of the frame link.
A recess groove is formed in a portion which is in contact with the
lower end portion of the frame link in the stopper protrusion, the
concave groove being recessed concavely inwardly from the stopper
protrusion, and as the lower end portion of the frame link is
engaged into the concave groove, the lower end portion of the frame
link is prevented from being lifted upward by being locked to the
concave groove of the stopper protrusion.
A link magnet is coupled to the lower end portion of the frame
link, a steel piece is coupled to the stopper protrusion, and as
the link magnet and the steel piece are magnetically-coupled when
the lower end portion of the frame link is in contact with the
stopper protrusion, the backward movement of the frame link is
constrained.
The actuator is a rotary-type motor which is fixed in the engine
compartment space, and a motor shaft of the rotary-type motor is
coupled to one end portion of the rotating link protruding into the
engine compartment space.
The vehicle body panel includes: a wall surface which extends
vertically and is formed with a panel hole, and the rotating link
includes: a first link portion which is provided to penetrate the
panel hole and has an end portion, protruding into the engine
compartment space, coupled to the actuator, and a second link
portion which is bent from the first link portion to protrude
upward and rotatably coupled to the upper end portion of the frame
link located in the internal space via the first hinge pin, and a
length of the second link portion is formed longer than a length of
the first link portion.
The panel hole is formed at a minimum size at which the first link
portion performs the rotating operation by the operation of the
actuator.
When the rotating link is rotated by the operation of the actuator,
the second link portion is in close contact with the wall surface
of the vehicle body panel, and the frame link moves forward and is
superimposed while being adjacent to the second link portion, the
pedal pad coupled to the frame link maximally moves toward the wall
surface of the vehicle body panel to become a hidden state where an
exposure thereof toward a driver is blocked.
When the rotating link is rotated by an operation of the actuator
and the second link portion is separated from the wall surface of
the vehicle body panel toward the rear where a driver exists and
the frame link moves backward and is separated from the second link
portion at a predetermined angle, the pedal pad coupled to the
frame link becomes a pop-up state in which the pedal pad is exposed
to protrude into the internal space where the driver exists.
The frame link is located to be separated from the second link
portion at a predetermined angle so that a center line straightly
extending a center portion of the first hinge pin and a center
portion of the second hinge pin is located behind a reference line
perpendicularly extending the horizontally extending bottom surface
of the vehicle body panel and the center portion of the first hinge
pin when the pedal pad is in the hidden state.
When an operating surface of the pedal pad operated by a driver's
foot is formed larger in an external size than the frame link and
the pedal pad rotates forward around the second hinge pin, an
operating surface of the pedal pad is in contact with and supported
by the frame link such that the forward rotation of the pedal pad
is constrained.
The vehicle body panel includes: an horizontally extending bottom
surface, the lower end portion of the frame link moves in the front
and rear direction while being in contact with the horizontally
extending bottom surface of the vehicle body panel when the
rotating link is rotated, and the lower end portion of the frame
link is formed in a round shape to be in line contact with the
horizontally extending bottom surface to minimize frictional
interference with the horizontally extending bottom surface.
The vehicle body panel includes: an horizontally extending bottom
surface, a roller is rotatably coupled to the lower end portion of
the frame link, and as the roller rotates while being in contact
with the horizontally extending bottom surface when the rotating
link is rotated, the lower end portion of the frame link moves in
the front and rear direction thereof.
The pedal pad is an organ-type pad which has an upper end portion
rotating back and forth around a lower end portion of the pedal pad
coupled to the frame link via the second hinge pin.
The pedal pad is any one of a component of an acceleration pedal
device or a component of a brake pedal.
The foldable pedal apparatus of the autonomous traveling vehicle
according to various exemplary embodiments of the present invention
has a configuration which may move the pedal pad in the front and
rear direction by the rotation of the rotating link and the frame
link when the actuator is operated, and a configuration in which
the pedal pad moves toward the driver and is popped-up to be
exposed so that the driver's operation of the pedal pad is possible
in the manual driving mode situation in which the driver directly
drives the vehicle, the pedal pad moves forward to be in close
contact with the vehicle body panel to enable the hidden state
where the exposure toward the driver is blocked so that the
driver's operation of the pedal pad is not possible in the
autonomous traveling mode situation in which the driver does not
directly drive the vehicle, and may provide the comfortable rest of
the driver in the autonomous traveling situation, and furthermore,
block the misoperation of the pedal in the autonomous traveling
situation, achieving safety improvement.
Furthermore, the present invention may maximally move the pedal pad
forward through the structures of the rotating link and the frame
link which have relatively simple configurations to be in close
contact with the wall surface of the vehicle body panel, securing
the space under the driver seat having the maximally wide space in
the hidden (hide) state of the pedal pad, and furthermore, increase
the amount of protrusions into the interior of the pedal pad,
making the driver's operation of the pedal pad more
advantageous.
Furthermore, the present invention is characterized in that the
size of the panel hole formed in the wall surface of the vehicle
body panel is formed at the minimum size at which the first link
portion of the rotating link may perform the rotating operation
when the actuator is operated, and as a result, may form the panel
hole at the maximally small size, maximally decreasing the noise
transferred to the interior.
The methods and apparatuses of the present invention have other
features and advantages which will be apparent from or are set
forth in more detail in the accompanying drawings, which are
incorporated herein, and the following Detailed Description, which
together serve to explain certain principles of the present
invention.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is an exploded perspective diagram illustrating a foldable
pedal apparatus of an autonomous traveling vehicle according to
various exemplary embodiments of the present invention.
FIG. 2 and FIG. 3 are a front perspective diagram and a rear
perspective diagram of the coupled state illustrated in FIG. 1.
FIG. 4 is a side diagram of FIG. 2 and a diagram illustrating a
hidden (hide) state where a pedal pad moves forward and exposure
thereof is blocked.
FIG. 5 is a diagram illustrating a pop-up state where the pedal pad
protrudes into an internal space.
FIG. 6 is a diagram illustrating a state where the pedal pad in the
pop-up state operates normally.
FIG. 7 is an enlarged diagram illustrating a state where the lower
end portion of a frame link is in contact with and supported by a
stopper protrusion.
FIG. 8 is a rear diagram illustrating a state where a vehicle body
panel is removed from FIG. 6.
FIG. 9 is a diagram for explaining another exemplary embodiment in
which a roller is coupled to the lower end portion of the frame
link.
It may be understood that the appended drawings are not necessarily
to scale, presenting a somewhat simplified representation of
various features illustrative of the basic principles of the
present invention. The specific design features of the present
invention as included herein, including, for example, specific
dimensions, orientations, locations, and shapes will be determined
in part by the particularly intended application and use
environment.
In the figures, reference numbers refer to the same or equivalent
portions of the present invention throughout the several figures of
the drawing.
DETAILED DESCRIPTION OF THE PRESENT INVENTION
Reference will now be made in detail to various embodiments of the
present invention(s), examples of which are illustrated in the
accompanying drawings and described below. While the present
invention(s) will be described in conjunction with exemplary
embodiments of the present invention, it will be understood that
the present description is not intended to limit the present
invention(s) to those exemplary embodiments. On the other hand, the
present invention(s) is/are intended to cover not only the
exemplary embodiments of the present invention, but also various
alternatives, modifications, equivalents and other embodiments,
which may be included within the spirit and scope of the present
invention as defined by the appended claims.
Hereinafter, a foldable pedal apparatus of an autonomous traveling
vehicle according to various exemplary embodiments of the present
invention will be described with reference to the accompanying
drawings.
As illustrated in FIGS. 1 to 9, a foldable pedal apparatus of an
autonomous traveling vehicle according to various exemplary
embodiments of the present invention includes a rotating link 10
which is disposed to penetrate a portion of a vehicle body panel 1
which partitions an engine compartment space and an internal space
under a driver seat; an actuator 20 which is coupled to one end
portion of the rotating link 10 protruding into the engine
compartment space to generate power to selectively rotate the
rotating link 10; a frame link 40 which has the upper end portion
rotatably coupled to the other end portion of the rotating link 10
protruding into the internal space via a first hinge pin 30 and the
lower end portion moving in the front and rear direction when the
rotating link 10 is rotated; and a pedal pad 60 which has the lower
end portion rotatably coupled to the lower end portion of the frame
link 40 via a second hinge pin 50.
The vehicle body panel 1 which partitions the engine compartment
space and the internal space under the driver seat may also be a
carpet surface.
According to various exemplary embodiments of the present invention
further includes an actuator controller 70 which is fixed in the
engine compartment space with respect to the vehicle body panel 1
and electrically connected to the actuator 20 to control an
operation of the actuator 20.
The actuator controller 70 may be a printed circuit board
(PCB).
Furthermore, the present invention further includes a pedal sensor
housing 80 which has the lower end portion fixedly coupled to the
lower end portion of the frame link 40 and the upper end portion
coupled to protrude forward with respect to the frame link 40, and
a pad spring 90 which has both end portions configured to be
supported by the pedal pad 60 and the pedal sensor housing 80.
As the driver operates the pedal pad 60 with his or her foot, the
pad spring 90 is compressed when the pedal pad 60 rotates forward
around the second hinge pin 50 to accumulate an elastic force, and
when the driver releases an operating force from the pedal pad 60,
the pad spring 90 is configured to rotate and return the pedal pad
60 backward with the accumulated elastic force.
Two pad springs 90 are configured to tune a pedaling force through
the tuning of a spring force, and to suppress the minute shaking of
the pedal pad 60, but the number thereof is not limited to two.
The pad spring 90 is preferably a compressed coil spring.
Furthermore, in various exemplary embodiments of the present
invention, the rotating link 10 and the frame link 40 are made of a
steel material to secure rigidity (strength), and the present
invention is characterized by having a structure in which a housing
magnet 100 is fixedly coupled to the upper end portion of the pedal
sensor housing 80, and becomes a structure in which when the
rotating link 10 is rotated by an operation of the actuator 20 and
the frame link 40 moves forward, the housing magnet 100 is in
contact with the rotating link 10 made of steel to be
magnet-coupled, constraining the forward movement of the frame link
40.
Furthermore, the present invention further includes a permanent
magnet (magnet) 110 which is coupled to the lower end portion of
the pedal pad 60 through which the second hinge pin 50 passes, and
a non-contact pedal sensor 120 which is coupled to the lower end
portion of the pedal sensor housing 80 to face the permanent magnet
110 and provided with the PCB.
The lower end portion of the pedal sensor housing 80 is formed with
coupling portions 81 which are spaced from each other from side to
side and have circular protrusion shapes, the non-contact pedal
sensor 120 is fixedly coupled to the internal surfaces of the
coupling portions 81, the coupling portions 81 to which the
non-contact pedal sensor 120 is coupled are inserted into the lower
end portion of the frame link 40 formed in an U shape, and the
lower end portion of the pedal pad 60 is inserted into a space
between the coupling portions 81 spaced from each other from side
to side, and at the instant time, the permanent magnet 110 coupled
to the lower end portion of the pedal pad 60 is located to face the
coupling portions 81 of the pedal sensor housing 80, and the second
hinge pin 50 has a structure of sequentially penetrating and being
coupled to the lower end portion of the pedal pad 60, the lower end
portion of the frame link 40, the coupling portions 81 of the pedal
sensor housing 80, and the non-contact pedal sensor 120.
The printed circuit board (PCB) is provided in the non-contact
pedal sensor 120 to face the permanent magnet 110, and the PCB is
configured to be electrically connected to a power supply such as a
battery through a wire.
When the pedal pad 60 rotates around the second hinge pin 50, the
permanent magnet 110 coupled to the lower end portion of the pedal
pad 60 rotates together and the location of the pedal pad 60 is
changed, and at the instant time, the non-contact pedal sensor 120
detects an rotating angle of the pedal pad 60 through a change in
the magnetic field strength according to the change in the rotating
location of the permanent magnet 110 to generate any one signal of
a signal related to acceleration or a signal related to
braking.
There are advantages in that the non-contact pedal sensor 120 may
decrease operating noise when compared to a contact sensor directly
connected through a link or the like, and further increase the
accuracy of an output signal.
The vehicle body panel 1 includes a horizontally extending bottom
surface 1a, and a wall surface 1b which partitions the engine
compartment space and the internal space as it vertically extends
upwards from the bottom surface 1a, and the wall surface 1b is
formed with a panel hole 1c having a predetermined size through
which the rotating link 10 passes.
A stopper protrusion 130 which is in contact with the lower end
portion of the frame link 40 moving backward when the rotating link
10 is rotated by an operation of the actuator 20 and the frame link
40 moves backward to limit a backward movement of the frame link 40
is fixed on the bottom surface 1a of the vehicle body panel 1.
Meanwhile, a concave groove 131 recessed inwardly from the stopper
protrusion 130 is formed in a portion of the stopper protrusion 130
which is in contact with the lower end portion of the frame link
40, and as the lower end portion of the frame link 40 is inserted
into the concave groove 131, the lower end portion of the frame
link 40 becomes a structure which is prevented from being lifted
upward by being locked to the concave groove of the stopper
protrusion 130.
According to various exemplary embodiments of the present
invention, a link magnet 140 is coupled to the lower end portion of
the frame link 40, and a steel piece 150 is coupled to the stopper
protrusion 130.
Accordingly, the rotating link 10 is rotated by an operation of the
actuator 20 and the frame link 40 moves backward, and when the
lower end portion of the frame link 40 moving backward is inserted
into the concave groove 131 of the stopper protrusion 130 and is in
contact with the stopper protrusion 130, the link magnet 140 and
the steel piece 150 are magnetically-coupled to each other, and
thus the backward movement of the frame link 40 is constrained by
the support force by the stopper protrusion 130 and the magnet
coupling of the link magnet 140 and the steel piece 150.
The actuator 20 according to various exemplary embodiments of the
present invention is a rotating motor 21 which is fixed in the
engine compartment space, and has a structure in which a motor
shaft 22 of the rotating motor 21 is coupled to one end portion of
the rotating link 10 protruding into the engine compartment space
to integrally rotate.
The rotating motor 21 may be, for example, a step motor.
The rotating link 10 has a configuration which includes a first
link portion 11 which is provided to penetrate the panel hole 1c
formed in the vehicle body panel 1 and has the end portion
protruding into the engine compartment space coupled to the
actuator 20, and a second link portion 12 which is bent once from
the first link portion 11 to protrude upward and rotatably coupled
to the upper end portion of the frame link 40 located in the
internal space via the first hinge pin 30, and includes having a
structure which is formed to have the length of the second link
portion 12 longer than the length of the first link portion 11.
As the second link portion 12 is formed longer than the first link
portion 11, the second link portion 12 may be maximally in close
contact with the wall surface 1b of the vehicle body panel 1 even
if the first link portion 11 is rotated at a small angle, and as a
result, the space under the driver seat having the maximally wide
space may be used in the hidden (hide) state of the pedal pad 60,
and furthermore, the amount of protrusions toward the interior of
the pedal pad 60 may also be increased, making the driver's
operation of the pedal pad 60 more advantageous.
The panel hole 1c formed in the wall surface 1b of the vehicle body
panel 1 includes being formed at a minimum size at which the first
link portion 11 of the rotating link 10 may perform the rotating
operation when the actuator 20 is operated, and as a result, there
is an advantage in that by forming the panel hole 1c at a maximally
small size, it is possible to maximally decrease the noise
transferred to the interior.
The pedal pad 60 includes an operating surface 61 which is operated
by the driver with his or her foot, and a body portion 62 which is
formed to protrude forward from the operating surface 61.
The body portion 62 of the pedal pad 60 is formed with a groove 63
open forward, and one end portion of the pad spring 90 is
configured to be inserted into the groove 63.
The lower end portion of the body portion 62 of the pedal pad 60 is
rotatably coupled to the lower end portion of the frame link 40 via
the second hinge pin 50.
The operating surface 61 of the pedal pad 60 is formed to have a
larger external size than the frame link 40.
Accordingly, when the driver depresses the operating surface 61 and
applies the operating force, the pedal pad 60 rotates forward
around the second hinge pin 50, and at the instant time, the body
portion 62 of the pedal pad 60 is inserted between the left and
right pillars of the frame link 40 formed in the U shape, and as an
operating surface of the pedal pad 60 is in contact with and
supported by the left and right pillars of the frame link 40, the
forward rotation of the pedal pad 60 is constrained.
To stably move the frame link 40 when the rotating link 10 is
rotated according to various exemplary embodiments of the present
invention, the lower end portion of the frame link 40 moves in the
front and rear direction while being in contact with the
horizontally extending bottom surface 1a of the vehicle body panel
1, and at the instant time, the lower end portion of the frame link
40 is configured for being formed in a round 41 shape to be in line
contact with the horizontally extending bottom surface 1a of the
body portion 1 to minimize frictional interference with the bottom
surface 1a of the body portion 1.
As another example configured for minimizing the frictional
interference between the frame link 40 and the bottom surface 1a of
the vehicle body panel 1, as illustrated in FIG. 9, the roller 160
is rotatably coupled to the lower end portion of the frame link 40
via a roller shaft 161, and as the roller 160 rotates while being
in contact with the horizontally extending bottom surface 1a of the
vehicle body panel 1 when the rotating link 10 is rotated, the
lower end portion of the frame link 40 may also become a structure
of moving in the front and rear direction thereof.
The pedal pad 60 according to various exemplary embodiments of the
present invention is configured for being an organ-type pad whose
upper end portion rotates back and forth around the lower end
portion coupled to the frame link 40 via the second hinge pin 50,
and furthermore, the pedal pad 60 may be composed of any one of a
component of an accelerator pedal device or a component of a brake
pedal.
In FIG. 1, reference numerals 42 and 63 not described are each pin
holes through which the second hinge pin 50 passes.
FIGS. 2 and 4 are states where the pedal pad 60 maximally moves
forward to be located in the space under the driver seat, and as a
result, hidden (hide) states where the exposure of the pedal pad 60
into the interior in which the driver exists is blocked.
When the rotating link 10 is rotated by an operation of the
actuator 20 and the second link portion 12 is in close contact with
the wall surface 1b of the vehicle body panel 1 and the frame link
40 moves forward and is superimposed while being adjacent to the
second link portion 12, the pedal pad 60 coupled to the frame link
40 maximally moves toward the wall surface 1b of the vehicle body
panel 1 to become the hidden state where the exposure toward the
driver is blocked.
As described above, when the pedal pad 60 is in the hidden state,
the space under the driver seat becomes a wide space without
interference of the pedal such that the driver may have a
comfortable rest in a relax mode, and furthermore, the misoperation
of the pedal may be blocked in the autonomous traveling situation,
achieving safety improvement.
The exemplary embodiment according to various exemplary embodiments
of the present invention is configured for having a configuration
configured for implementing the hidden (hide) state of the pedal
pad 60 through the simple link structure, and particularly, there
is an advantage in that by maximally moving the pedal pad 60
forward through the structures of the rotating link 10 and the
frame link 40 to be in close contact with the wall surface 1b of
the vehicle body panel 1, it is possible to secure the space under
the driver seat having the maximally wide space in the hidden
(hide) state of the pedal pad 60.
Furthermore, when the pedal pad 60 is in the hidden (hide) state
situation, as illustrated in FIG. 4, the frame link 40 has a
structure which is located by being separated from the second link
portion 12 at a predetermined angle so that a center line L2
straightly extending a center portion of the first hinge pin 30 and
the center portion of the second hinge pin 50 is located behind a
reference line L1 perpendicularly extending the bottom surface 1a
of the vehicle body panel 1 and the center portion of the first
hinge pin 30.
As a result, when the pedal pad 60 is switched from the hidden
(hide) state to the pop-up state, the operation proceeds more
smoothly, and if the pedal pad 60 is in a situation in which the
center line L2 is matched with the reference line L1 or is located
in front of the reference line L1 in the hidden (hide) state
situation, the operation may be difficult when the pedal pad 60 is
switched from the hidden (hide) state to the pop-up state.
FIG. 5 is a pop-up state where the pedal pad 60 is exposed to
protrude into the internal space.
In the hidden (hide) state of the pedal pad 60 as illustrated in
FIG. 4, when the rotating link 10 is rotated by an operation of the
actuator 20 and the second link portion 12 is separated from the
wall surface 1b of the vehicle body panel 1 backward where the
driver exists and the frame link 40 moves backward and is separated
from the second link portion 12 at a predetermined angle, the pedal
pad 60 coupled to the frame link 40 is in the pop-up state in which
the pedal pad 60 is exposed to protrude into the internal space
where the driver exists.
As illustrated in FIG. 5, when the pedal pad 60 is in the pop-up
state in which the pedal pad 60 moves toward the driver to be
exposed, the driver depresses the operating surface 61 of the
exposed pedal pad 60 to perform a normal pedal operation.
When the pedal pad 60 is in the pop-up state in which the pedal pad
60 is exposed into the internal space, the lower end portion of the
frame link 40 is locked and supported by the stopper protrusion
130, and at the instant time, as an angle between the second link
portion 12 and the frame link 40 is almost a right angle, the
driver depresses the operating surface 61 of the pedal pad 60 to
apply load and thus the load is not transferred in a direction in
which the rotating motor 21 rotates, preventing a phenomenon in
which overload is applied to the rotating motor 21, and as a
result, there is an advantage in that it is possible to minimize
the capacity of the motor, decreasing the cost.
Furthermore, the lower end portion of the frame link 40 may be
locked and supported by the stopper protrusion 130 in the state
where the pedal pad 60 is popped-up, decreasing the load supported
by the rotating motor 21, and as a result, there is an advantage in
that it is possible to minimize the capacity of the motor,
decreasing the cost.
FIG. 6 is a state where the driver depresses with his or her foot
and operates the pedal pad 60 popped-up to protrude into the
internal space.
When the driver depresses and operates the operating surface 61 of
the pedal pad 60 popped-up to protrude into the internal space with
his or her foot, the pedal pad 60 rotates forward around the second
hinge pin 50, and the pad spring 90 is compressed.
Furthermore, the permanent magnet 110 coupled to a body portion 62
of the pedal pad 60 is also rotated together by the forward
rotation of the pedal pad 60 and the location of the pedal pad 60
according to the rotation is changed, and at the instant time, the
non-contact pedal sensor 120 coupled to the pedal sensor housing 80
detects the rotating angle of the pedal pad 60 through a change in
the magnetic field strength according to the change in the rotating
location of the permanent magnet 110 to generate any one signal of
a signal related to acceleration or a signal related to
braking.
As described above, the foldable pedal apparatus of the autonomous
traveling vehicle according to various exemplary embodiments of the
present invention has a configuration which may move the pedal pad
60 in the front and rear direction by the rotation of the rotating
link 10 and the frame link 40 when the actuator 20 is operated, and
a configuration in which the pedal pad 60 moves toward the driver
and is popped-up to be exposed so that the driver's operation of
the pedal pad 60 is possible in the manual driving mode situation
in which the driver directly drives the vehicle, the pedal pad 60
moves forward to be in close contact with the vehicle body panel 1
to enable the hidden state where the exposure toward the driver is
blocked so that the driver's operation of the pedal pad is not
possible in the autonomous traveling mode situation in which the
driver does not directly drive the vehicle, and may provide the
comfortable rest of the driver in the autonomous traveling
situation, and furthermore, block the misoperation of the pedal in
the autonomous traveling situation, achieving safety
improvement.
Furthermore, the present invention may maximally move the pedal pad
60 forward through the structures of the rotating link 10 and the
frame link 40 which have relatively simple configurations to be in
close contact with the wall surface 1b of the vehicle body panel 1,
securing the space under the driver seat having the maximally wide
space in the hidden (hide) state of the pedal pad 60, and
furthermore, increase the amount of protrusions into the interior
of the pedal pad 60, making the driver's operation of the pedal pad
60 more advantageous.
Furthermore, the present invention is characterized in that the
size of the panel hole 1c formed in the wall surface 1b of the
vehicle body panel 1 is formed at the minimum size at which the
first link portion 11 of the rotating link 10 may perform the
rotating operation when the actuator 20 is operated, and as a
result, may form the panel hole 1c at the maximally small size,
maximally decreasing the noise transferred to the interior.
In addition, the term "controller" refers to a hardware device
including a memory and a processor configured to execute one or
more steps interpreted as an algorithm structure. The memory stores
algorithm steps, and the processor executes the algorithm steps to
perform one or more processes of a method in accordance with
various exemplary embodiments of the present invention. The
controller according to exemplary embodiments of the present
invention may be implemented through a nonvolatile memory
configured to store algorithms for controlling operation of various
components of a vehicle or data about software commands for
executing the algorithms, and a processor configured to perform
operation to be described above using the data stored in the
memory. The memory and the processor may be individual chips.
Alternatively, the memory and the processor may be integrated in a
single chip. The processor may be implemented as one or more
processors.
The controller may be at least one microprocessor operated by a
predetermined program which may include a series of commands for
carrying out a method in accordance with various exemplary
embodiments of the present invention.
The aforementioned invention can also be embodied as computer
readable codes on a computer readable recording medium. The
computer readable recording medium is any data storage device that
can store data which can be thereafter read by a computer system.
Examples of the computer readable recording medium include hard
disk drive (HDD), solid state disk (SSD), silicon disk drive (SDD),
read-only memory (ROM), random-access memory (RAM), CD-ROMs,
magnetic tapes, floppy discs, optical data storage devices, etc.
and implementation as carrier waves (e.g., transmission over the
Internet).
For convenience in explanation and accurate definition in the
appended claims, the terms "upper", "lower", "inner", "outer",
"up", "down", "upwards", "downwards", "front", "rear", "back",
"inside", "outside", "inwardly", "outwardly", "internal",
"external", "inner", "outer", "forwards", and "backwards" are used
to describe features of the exemplary embodiments with reference to
the positions of such features as displayed in the figures. It will
be further understood that the term "connect" or its derivatives
refer both to direct and indirect connection.
The foregoing descriptions of specific exemplary embodiments of the
present invention have been presented for purposes of illustration
and description. They are not intended to be exhaustive or to limit
the present invention to the precise forms disclosed, and obviously
many modifications and variations are possible in light of the
above teachings. The exemplary embodiments were chosen and
described to explain certain principles of the present invention
and their practical application, to enable others skilled in the
art to make and utilize various exemplary embodiments of the
present invention, as well as various alternatives and
modifications thereof. It is intended that the scope of the present
invention be defined by the Claims appended hereto and their
equivalents.
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